Design and manufacture of oscillatory propulsion robot fish

摘要

The objective of this study is to design an oscillatory propulsion robot fish by observation and divide it into two systems, namely, mechanism and control systems. Mechanism system includes the mode of movement and stability. Movement parameters of linkage are determined by numerical simulation, gravity and the buoyancy of a stability design can reduce the change center of gravity instrument and cost. Control system comprises a controller, an actuation circuit, a sensing circuit, and a waterproof sealing. Finally, the robot fish is finished through the realizability of manufacturing, functional evaluations, experiments, and tests.